CN214565768U - Mobile robot - Google Patents

Abstract

A mobile robot, comprising: casing, rotating device and balancing unit, rotating device with the balancing unit set up in inside the casing, wherein: the rotating device is connected with the shell part and drives the shell to rotate when rotating; the balancing device is rotatably connected with the rotating device and enables the device inside the shell to be balanced through angular momentum. By adopting the structure, the mobile robot has better stability and controllability.

Description

Mobile robot

Technical Field

The embodiment of the specification relates to the technical field of machinery, in particular to a mobile robot.

Background

At present, with the development of science and technology, more and more industries use automated robots, which can replace or assist human beings to complete work through human control or programming codes.

However, when the movable robot autonomously moves, disturbance of the external environment and disturbance of the inside of the robot may affect the balance of the robot, and the movement trajectory of the robot deviates from the ideal trajectory and may not reach the intended destination.

SUMMERY OF THE UTILITY MODEL

In view of this, embodiments of the present disclosure provide a mobile robot having better stability and controllability.

The present specification provides a mobile robot comprising: casing, rotating device and balancing unit, rotating device with the balancing unit set up in inside the casing, wherein:

the rotating device is connected with the shell part and drives the shell to rotate when rotating;

the balancing device is rotatably connected with the rotating device and enables the device inside the shell to be balanced through angular momentum.

Optionally, the housing is in the shape of a sphere or a spheroid.

Optionally, the balancing device comprises: the device comprises an attitude acquisition component and a momentum rotation component; the attitude acquisition component is suitable for acquiring attitude deviation information of a device inside the shell; the momentum rotating assembly is suitable for rotating according to a specified direction and a specified rotating speed, angular momentum is generated for attitude deviation compensation, and devices in the shell are kept balanced.

Optionally, the momentum turning assembly comprises a plurality of momentum turning members, and the turning direction of each momentum turning member is different.

Optionally, the momentum turning assembly comprises: a first momentum turning part and a second momentum turning part, wherein:

a rotation axis direction of the first momentum turning member is parallel to a rotation axis direction of the housing;

the direction of the rotation axis of the second momentum turning part is perpendicular to the direction of the rotation axis of the housing.

Optionally, the balancing apparatus further comprises: and the carrying structure part is suitable for carrying the attitude acquisition part, the momentum rotating assembly and other devices in the shell, and is rotatably connected with the rotating device.

Optionally, the mobile robot further comprises: the transmitting device is arranged inside the shell and is connected with the balancing device; the shell is provided with a first opening, and the transmitting device transmits the object to be transmitted outwards through the first opening.

Optionally, the launching device is disposed through the rotating device and is rotatably connected to the rotating device.

Optionally, the housing is provided with a second opening, and at least part of the components of the transmitting device are mounted inside the housing through the second opening and movably connected with the housing.

Optionally, the rotating device comprises a driving assembly and a driven assembly; the driving assembly is in transmission connection with the driven assembly, and the driving assembly drives the driven assembly to move when moving.

Optionally, the mobile robot further comprises: a steering device adapted to shift a center of gravity of the mobile robot.

Optionally, the steering device comprises: a fixed component, a sliding component and a driving component, wherein:

the fixed part is connected with the balancing device;

the sliding component is connected with the fixed component in a sliding way and is in transmission connection with the driving component;

the driving part drives the sliding part to slide on the fixed part when moving.

Optionally, the sliding member is in meshing transmission connection with the driving member.

Optionally, the mobile robot further comprises: the control device is respectively connected with the image acquisition device, the balancing device, the rotating device and the communication device, and the balancing device is also respectively connected with the image acquisition device and the communication device; the communication device, the image acquisition device and the control device are all arranged inside the shell, wherein:

the image acquisition device is suitable for acquiring image data of the environment where the mobile robot is located;

the communication device is suitable for transmitting a control instruction and the image data acquired by the image acquisition device;

and the control device responds to the control instruction and executes control operation on the mobile robot.

Optionally, the mobile robot further comprises: and the heat dissipation device is arranged inside the shell, and the shell is provided with a through hole matched with the heat dissipation device.

Optionally, the mobile robot further comprises: and the filtering device is attached to the through hole.

Optionally, the mobile robot further comprises: power supply unit and wireless charging device, set up in inside the casing, wherein:

the power supply device is suitable for supplying power to the mobile robot;

the wireless charging device is coupled with the power supply device and is suitable for charging the power supply device.

Optionally, the housing is made of a transparent or translucent material.

By adopting the mobile robot in the embodiment of the specification, the shell can be driven to rotate through the rotating device which is arranged in the shell and is connected with the shell part, so that the autonomous movement of the mobile robot is realized; the balancing device is rotatably connected with the rotating device, and the device inside the shell keeps balance through angular momentum, so that the balancing capability of the mobile robot in different motion states is improved, the mobile robot can carry out self-balancing adjustment when being interfered, and the adaptability to road conditions is stronger. In summary, the mobile robot in the embodiment of the present description has better stability and controllability.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present specification, the drawings needed to be used in the embodiments of the present specification or in the description of the prior art will be briefly described below, it is obvious that the drawings described below are only some embodiments of the present specification, and it is also possible for a person skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic overall structure diagram of a mobile robot in an embodiment of the present specification.

Fig. 2 is a schematic view of an internal structure of a mobile robot after a housing is cut open.

Fig. 3 is a schematic view of the internal structure of another mobile robot after the shell is cut open.

Fig. 4 is a schematic structural diagram of a momentum turning assembly in an embodiment of the present disclosure.

Fig. 5 is a schematic structural diagram of a device inside a housing in an embodiment of the present disclosure.

Fig. 6 is a schematic structural view of a steering device in an embodiment of the present disclosure.

Fig. 7 is a schematic view of the internal structure of fig. 3 from another perspective.

Fig. 8 is a schematic structural diagram of one of the transmitting devices in the embodiments of the present disclosure.

Fig. 9 is an overall structural diagram of another view angle corresponding to the mobile robot shown in fig. 1.

Detailed Description

As described above, the disturbance of the external environment and the disturbance of the machine itself may affect the dynamic balance of the robot, so that the movement trajectory of the robot deviates from the ideal trajectory and cannot reach the intended destination.

In order to solve the above problem, embodiments of the present disclosure provide a mobile robot, in which a rotating device is partially connected in a housing to drive the housing to rotate, and a balancing device in the housing is used to balance devices inside the housing, thereby improving stability and controllability of the mobile robot.

For the purpose of enabling those skilled in the art to more clearly understand and practice the concepts, implementations and advantages of the embodiments of the present disclosure, detailed descriptions are provided below through specific application scenarios with reference to the accompanying drawings.

Fig. 1 is a schematic view of an overall structure of a mobile robot in an embodiment of the present disclosure, and fig. 2 is a schematic view of an internal structure of the mobile robot after a housing is cut away.

With combined reference to fig. 1 and 2, in the present specification embodiment, the mobile robot R may include: casing 1, rotating device 2 and balancing unit 3, rotating device 2 with balancing unit 3 sets up in inside the casing 1, wherein:

the rotating device 2 is partially connected with the shell 1 and drives the shell 1 to rotate when rotating;

the balancing device 3 is rotatably connected with the rotating device 2 and keeps the devices inside the shell 1 balanced through angular momentum.

Wherein, the devices inside the housing 1 may include a rotating device 2, a balancing device 3 and other devices needed to be loaded inside the housing 1 for realizing the functions related to the mobile robot R, in other words, the balancing device 3 may balance itself and other devices inside the housing 1 through angular momentum.

In specific implementation, in order to avoid the device inside the housing 1 from generating disturbance (such as vibration or shaking and other motions) and compensate the disturbance influence on the device inside the housing 1, the balancing device 3 can avoid the mobile robot R from generating adverse problems such as offset and runaway and the like under various states, so as to maintain the stability inside the housing 1. Specifically, when the rotating device 2 rotates and drives the housing 1 to rotate, the mobile robot R moves, the device inside the housing 1 may be affected by disturbance to generate offset, and the balancing device 3 can compensate the offset of the device through angular momentum, so as to ensure dynamic balance of the device inside the housing 1, and enable the mobile robot R to move according to a specified motion track without interference; when the mobile device 2 is not rotated, the mobile robot R is stationary, the device inside the housing 1 may also be affected by disturbance to generate offset, and the balancing device 3 can compensate the offset of the device through angular momentum, so as to ensure static balance of the device inside the housing 1, so that the robot R can stay at a designated position without interference.

Therefore, the shell can be driven to rotate through the rotating device which is arranged in the shell and connected with the shell part, and the autonomous movement of the mobile robot is realized; the balancing device is rotatably connected with the rotating device, and the device inside the shell keeps balance through angular momentum, so that the balancing capability of the mobile robot in different motion states is improved, the mobile robot can carry out self-balancing adjustment when being interfered, and the adaptability to road conditions is stronger. Therefore, the mobile robot of the embodiment of the specification has better stability and controllability.

In a specific implementation, the housing may be in the shape of a sphere or a spheroid. Wherein, the shape of the sphere can refer to fig. 1; the spheroid shape can be formed by splicing a plurality of cambered surfaces or planes so as to be close to a spheroid shape, such as a football shape, a football shape and the like. The present specification does not specifically limit the shape of the housing.

The spherical or sphere-like shell is adopted, so that the resistance is smaller when the shell rotates, the mobile robot is more flexible and agile in the motion process, the moving speed is higher, and the mobile robot is favorable for adapting to different road conditions.

It should be noted that, for convenience of description and understanding, the embodiments in this specification all use spheres as examples, but when the embodiments in this specification are actually applied, the housing of the mobile robot may also be in a sphere-like shape.

In a specific implementation, the rotatable connection between the balancing device and the rotating device may be implemented in different manners according to actual design requirements, and this is not limited in the embodiments of this specification.

In an implementation example, the balancing device and the rotating device can be rotatably connected through a bearing.

Specifically, as shown in fig. 2, the mobile robot R further includes a bearing a1 disposed inside the housing 1, and the rotating device 2 may include a rotating wheel 201, a motor shaft 202, and a wheel driving motor 203. The bearing a1 is sleeved in the motor shaft 202 and is fixedly connected with the balancing device 3; the rotating wheel 201 is connected with the wheel driving motor 203 through the motor shaft 202, and the rotating wheel 201 is at least partially connected with the shell 1; the wheel drive motor 203 is connected to the balancing device 3. The wheel driving motor 203 can drive the rotation of the housing 1 by driving the rotation wheel 201 to rotate.

In a specific implementation, in order to increase the driving force, the rotating device can be driven to rotate by adopting a master-slave transmission mode. As shown in fig. 3, which is a schematic view of an internal structure of another mobile robot after a shell is cut open, the mobile robot further includes a timing belt b1 and a connecting shaft b2, which are disposed inside the shell 1; the rotating device 2 may include: a driving assembly 21 and a driven assembly 22.

The driving assembly 21 is in transmission connection with the driven assembly 22 through a synchronous belt b1, and the driving assembly 21 drives the driven assembly 22 to move when moving. The driven assembly 22 is at least partially connected with the shell 1 so as to drive the shell 1 to rotate when rotating; and the driven assembly 22 is sleeved on the connecting shaft b2, and one end of the connecting shaft b2 is connected with the balancing device 3, so as to realize the rotatable connection between the balancing device 3 and the rotating device 2.

Specifically, the driving assembly 21 may include a wheel driving motor 21a, a motor shaft (not shown in fig. 3) and a driving wheel 21b, the wheel driving motor 21a is connected with the driving wheel 21b through the motor shaft, and the driving motor 21a is connected with the balancing device 3. The driven assembly 22 may include: the first driven wheel 22a and the second driven wheel 22b are both sleeved on the connecting shaft b2, and one section of the connecting shaft b2 is connected with the balancing device 3; the first driven wheel 22a is fixedly connected with the second driven wheel 22b, and the first driven wheel 22a is in transmission connection with the driving wheel 21b through a synchronous belt b 1; the second driven pulley 22b is partially connected to the housing 1.

The driving wheel 21b is driven by the wheel driving motor 21a to rotate, the driving wheel 21b drives the first driven wheel 22a to rotate through the timing belt b1, the first driven wheel 22a drives the second driven wheel 22b to rotate, and the second driven wheel 22b drives the housing 1 to rotate.

In a specific implementation, the balancing device may include: the device comprises an attitude acquisition component and a momentum rotation component; the attitude acquisition component can acquire attitude deviation information of a device in the shell, such as an inclination angle, an inclination direction and the like; the momentum rotating assembly can rotate according to a designated direction and a designated rotating speed, angular momentum is generated to perform attitude deviation compensation, and a device in the shell is kept balanced.

Wherein the momentum turning assembly may include at least one momentum turning part and a momentum driving motor. When the momentum rotation assembly comprises a plurality of momentum rotation parts, the rotation directions of the momentum rotation parts are different, so that the pose deviation in different directions can be compensated.

For example, as shown in fig. 4, which is a schematic structural diagram of a momentum rotational assembly in an embodiment of the present specification, with reference to fig. 2, the posture collecting part 31 may collect posture deviation information of a device inside the housing 1, and the momentum rotational assembly 32 may include a momentum driving motor 321 and two momentum rotational parts, i.e., a first momentum rotational part 32a and a second momentum rotational part 32b, which are disposed at different orientations, and a rotational axis direction of the first momentum rotational part 32a is parallel to a rotational axis direction of the housing 1; the rotational axis direction of the second momentum turning part 32b is perpendicular to the rotational axis direction of the casing 1.

Similarly, reference may also be made to the embodiments shown in fig. 3 and fig. 4 in combination, and specific reference may be made to the above-mentioned related description, which is not repeated herein.

In practical application, momentum rotating member can be the momentum wheel, and the momentum wheel can produce the effort when rotating to form restoring torque, carry out reverse compensation to the gesture skew, provide a stable environment for the device of casing inside. The attitude acquisition component can be a gyroscope and can measure six-axis angles of a device in the shell, so that attitude deviation information is obtained.

In a specific implementation, the interior of the housing may include, in addition to the rotating device and the balancing device, other devices for performing functions related to the mobile robot, and in order for the balancing device to balance the devices inside the housing through angular momentum, the balancing device needs to be directly or indirectly connected to each device inside the housing. Because the motion states and poses of the devices in the shell are different, a plurality of balancing devices are needed to respectively compensate angular momentum of the different devices in the shell, so that the structure in the shell is more complex, and the space requirement is larger.

In order to reduce the number of the balancing devices, improve the space utilization rate inside the shell and effectively control the device inside the shell to be in a balanced state, the balancing device further comprises a carrying structural member which can be used for carrying the attitude acquisition component, the momentum rotating assembly and other devices (such as a rotating device and the like) inside the shell and is rotatably connected with the rotating device. Work as momentum runner assembly rotates, can produce the effort to carrying the thing structure, forms the restoring moment, makes the whole outer moment of closing of carrying the thing structure be zero to make whole year thing structure remain stable, for other devices inside the casing provide a stable environment of carrying on.

Further, the carrier structure may comprise a plurality of carrier plates, and the device within the housing may be connected to at least one of the carrier plates. Wherein at least one carrier plate is rotatably connected to the rotating device; and at least one surface for carrying the device in the carrying plate is parallel to the rotating shaft direction of the shell. Further, if there are a plurality of loading plates, and the surface for loading the device is parallel to the direction of the rotation axis of the housing, these loading plates may form a U-shaped groove, the opening of which faces the non-rotation device side; alternatively, if there are a plurality of carrier plates, a part of which has a surface for mounting the device parallel to the rotational axis direction of the housing and a part of which has a surface for mounting the device non-parallel to the rotational axis direction of the housing, these carrier plates may form a hollow groove.

It can be understood that the number and the combination of the carrier plates can be set according to the actual application requirements, and the number and the combination of the carrier plates are not particularly limited in the embodiments of the present disclosure.

In an implementation embodiment, as shown in fig. 2, the balancing device 3 may include a carrying structure 33, and the carrying structure 33 may carry the attitude collecting component 31, the momentum turning component 32 and the turning device 2, wherein the carrying structure 33 includes carrying plates 331-334; among the loading plates 331 to 333, a surface for loading a device is parallel to the direction of the rotation axis of the housing 1, and the loading plate 334 is fitted on the motor shaft 202 of the rotation device 2.

In another practical embodiment, as shown in fig. 5, which is a schematic structural diagram of a device inside a housing, with reference to fig. 3, the balancing device 3 may include a carrying structure 33, and the carrying structure 33 may carry a posture collecting component 31, a momentum turning component 32 and a turning device 2, wherein the carrying structure includes carrying plates 331-335; among the carrier plates 331 to 333, a surface for mounting a device is parallel to the direction of the rotation axis of the housing 1, and the carrier plates 334 and 335 are connected to the connection axis b2 of the rotation device 2.

In a specific implementation, in order to achieve flexible steering, the mobile robot may further include a steering device, and the mobile robot may be steered accordingly by shifting a center of gravity of the mobile robot.

In an implementation example, as shown in fig. 6, which is a schematic structural diagram of a steering apparatus, in conjunction with fig. 1 and fig. 5, the mobile robot R includes a steering apparatus 4, and the steering apparatus 4 may include: a fixed part 41, a sliding part 42, and a driving part 43, wherein:

the fixing part 41 is connected to the balancing device 3. The sliding member 42 is slidably connected to the fixing member 41 and is drivingly connected to the driving member 43. The driving part 43 moves to drive the sliding part 42 to slide on the fixed part 41.

Further, the sliding member 42 is in meshing transmission connection with the driving member 43. For example, the mobile robot R further includes a gear c1 and a rack c2 engaged with each other, the gear c1 is connected to the driving part 43, and the rack is connected to the sliding part 42. When the driving part 43 drives the gear c1 to rotate, the rack c2 moves along with the gear c1, so that the sliding part 42 is driven to slide on the fixed part 41, the sliding part 42 is displaced, the gravity center position of the mobile robot R is changed, the mobile robot R is inclined, the inclination angle of the mobile robot can be controlled by controlling the displacement of the sliding part 42, and the mobile robot R is inclined when moving, so that steering can be realized.

In practical applications, the driving member may be a gear driving motor, the sliding member 42 is a mass, and the fixing member is a fixing rod.

In one embodiment, as shown in fig. 5, the steering device 4 may be disposed in the carrier structure 33. Specifically, referring to fig. 5 and 6, an end of the fixed member 41 is connected to the carrier structure 33, the sliding member 42 is sleeved in the fixed member 41, and the driving member 43 is in transmission connection with the sliding member 42 so that the sliding member can slide in the carrier structure 33.

In a specific implementation, as shown in fig. 2 or 3, the mobile robot R further includes a control device 6, and the control device 6 can be electrically connected with devices inside the housing 1 (such as the balancing device 2, the moving device 3, the steering device 4, and the like) so as to control the devices inside the housing according to a code preset in the control device 6. Further, the control device 6 may further include an input panel disposed on an outer surface of the housing, and a user may perform parameter setting through the input panel to adjust data of a corresponding code in the control device. Wherein the parameters may include: the parameters of the launching angle, the parameters of the object to be launched (such as weight, size, etc.), the parameters of the launching distance, the parameters of the ground clearance, the parameters of the rotating device, the parameters of the balancing device, etc., which are not specifically limited in the embodiments of the present specification.

In a specific implementation, the mobile robot may further include a power supply device, which may be disposed inside the housing and supplies power to various devices (such as a control device, a rotating device, a balancing device, and the like) of the mobile robot.

In practical applications, the mobile robot provided by the embodiment of the present disclosure may be applied to various industries, for example, the mobile robot provided by the embodiment of the present disclosure may be applied to a transportation industry, and an object to be transported is placed in a housing of the mobile robot provided by the embodiment of the present disclosure, and further, may be placed on a carrying structural member of the balancing device. When the mobile robot rotates, because the balancing device can ensure the balance inside the shell, the object to be transported does not rotate along with the mobile robot, but keeps dynamic balance, and even if the object to be transported is a fragile object or a container bearing liquid, the object to be transported cannot be broken or the liquid cannot leak.

And according to the specific application scene of the mobile robot, corresponding devices can be added in the shell to realize the required functions. The following description is presented in terms of specific applications for facilitating understanding and implementation by those skilled in the art.

In a specific application of the present specification, the mobile robot may include a transmitting device, so that the mobile robot has a transmitting function. Specifically, the transmitting device is arranged inside the shell and connected with the balancing device, a first opening is formed in the shell, and the transmitting device transmits the object to be transmitted outwards through the first opening.

In specific implementation, in order to facilitate the object to be launched to be loaded into the launching device, the shell is provided with a second opening, and the object to be launched is loaded into the launching device through the second opening, so that frequent loading and unloading of the mobile robot are avoided.

In a specific implementation, in order to improve the space utilization rate and reduce the structural complexity inside the housing, the transmitting device may be inserted into the rotating device and rotatably connected with the rotating device.

In order to further improve the space utilization rate and reduce the disturbance of the device inside the housing, the emitting path of the emitting device may be parallel to the rotating shaft direction of the rotating device. The end part (namely the emission end) for emission in the emission device is arranged in the rotating device in a penetrating way, and the object to be emitted passes through the rotating device and is emitted from the first opening on the shell; alternatively, an end (i.e., an inlet end) of the launching device for placing the object to be launched is arranged in the rotating device in a penetrating manner, and the object to be launched passes through the second opening and the rotating device and enters the launching device. The specification does not limit the specific penetrating mode of the rotating device and the transmitting device.

In an implementation example, referring to fig. 3, 5 to 7 in combination, the housing 1 includes a launching device 5 therein, the launching device 5 is connected to the carrying structure 33, and the launching device 5 is electrically connected to the control device 6. The transmitting device 5 and the carrying structure 33 may be fixedly connected or detachably connected, the fixed connection may be by gluing, and the detachable connection may be by bolts. The embodiments of the present specification do not specifically limit this.

Specifically, as shown in fig. 5, the connecting shaft b2 includes a hollow cavity, and one end of the connecting shaft b2 penetrates through the object carrying plate 334 of the object carrying structure 33, the launching device 5 is connected to the object carrying plate 334 of the object carrying structure 33, and the end portion of the launching device used for launching can be placed in the hollow cavity of the connecting shaft b 2.

As shown in fig. 3, the housing 1 is provided with a first opening c1, the first opening c1 corresponds to a hollow cavity of the connecting shaft b2, and when the launching device 5 launches, the object to be launched passes through the hollow cavity of the connecting shaft b2, passes through the first driven wheel 22a and the second driven wheel 22b of the rotating device 2, and is ejected from the first opening c1 of the housing 1.

As shown in fig. 7, the housing 1 further has a second opening c2 formed therein, corresponding to an end of the launching device 5 for receiving an object to be launched, wherein the object to be launched can enter the launching device through the second opening c 2.

Since the launching device 5 is connected to the attitude acquisition unit 31 and the momentum transfer module 32 through the carrier structure 33, the attitude acquisition unit 31 can acquire attitude deviation information of the launching device 5, and the balance between the launching device 5 and the carrier structure 33 can be ensured by the momentum transfer module 32.

Furthermore, the adjustment of the launching angle can be realized by the steering device 4, and with continued reference to fig. 5 and 6, when the sliding member 42 slides on the fixed member 41, the mobile robot R tilts in the corresponding direction, and the launching direction of the launching device also tilts in the corresponding direction, so that when the sliding member 42 slides to the designated position, the launching angle of the launching device also meets the preset requirement, and the launching can be performed.

Therefore, the balance device can avoid the disturbance of the transmitting device, and can also avoid the disturbance of other devices on the transmitting device, and the balance state of the transmitting device is ensured, so that the transmitting device can transmit more stably no matter the mobile robot moves or is static. Through turning to the device, can adjust launch angle in a flexible way, need not additionally to set up other devices that are used for adjusting launch angle, practiced thrift casing inner space and hardware cost.

In a specific implementation, as shown in fig. 8, which is a schematic structural diagram of the transmitting device, the transmitting device 5 may include: a base 51, a track assembly 52, a transfer assembly 53 and a launching assembly 54, wherein: the track assembly 52 is suitable for being movably arranged in the base body 51, and the launching assembly 54 is arranged in linkage with the track assembly 52 to form a launching channel for an object to be launched; the conveying component 53 is adapted to convey the object to be launched to the launching component 54 for launching according to the path of the launching channel. Wherein the launching assembly 54 may include two friction wheels. The track assembly 52 may be adapted to the specifications of the object to be launched by a resilient member.

In specific implementation, the track assembly 52 and the launching assembly 54 are movable parts of the mechanical launching device 5, the track assembly 52 can be moved according to the specification of the object to be launched, and the launching assembly 54 is linked by the track assembly 52, specifically, the moving direction and the moving distance of the launching assembly 54 are determined by the moving direction and the moving distance of the track assembly 52, so that the launching channel formed by the launching assembly 54 and the track assembly 52 can be adaptively adjusted according to the change of the specification of the object to be launched, and thus, the launching channel can be adapted to different specifications of the launched object.

After the launching assembly 54 and the track assembly 52 are moved to the designated positions and fixed, the object to be launched is loaded in the launching channel, and the conveying assembly 53 conveys the object to be launched to the launching assembly 54 for launching according to the path of the launching channel.

The designated positions to which the launching assembly 54 and the track assembly 52 need to move are set according to the specific specification of the object to be launched, and as long as the object to be launched can be conveyed in the formed launching channel, the designated positions described in the embodiments of the present specification can be regarded as the designated positions, which is not specifically limited by the present specification.

By adopting the scheme, the track assembly and the track assembly are arranged in a linkage manner, so that the launching channel can be adjusted according to the objects to be launched of different specifications, the objects to be launched of different specifications can be launched adaptively, and the universality of the mechanical launching device is improved.

In addition, in practical application, the specifications of objects to be transmitted in different application fields are different, and the transmitting device provided by the embodiment of the specification can adjust the size of the transmitting channel according to the objects to be transmitted with different specifications. For example, in the field of physical training, the object to be launched may be various sports apparatuses, such as various balls or balls, and the launching device provided in the embodiments of the present description may adjust the size of the launching channel according to the sports apparatuses of different specifications; in the security protection field, the object to be launched can be various weapons, like non-fatal weapons such as tear-gas shells, smog bullet, dust of putting out a fire, and the emitter that this specification embodiment provided can carry out the regulation of launching channel size according to the weapon of different specifications. The embodiments of the present specification do not specifically limit this. Therefore, the mobile robot provided by the embodiment of the specification is wider in application range, flexible to move and capable of meeting different emission requirements.

It should be understood that the above embodiments are merely illustrative, and any transmitting device meeting the requirements may be selected according to practical requirements in specific applications, and the embodiments of the present specification do not specifically limit this.

In a specific implementation, at least a portion of the components of the launch device are mounted to the housing interior through the second opening. Wherein the at least part of the component is a detachable component. For example, at least part of the components of the emitting device are mounted to the interior of the housing through the second opening. Thereby, the mounting and dismounting of the launching device is facilitated.

In a specific implementation, at least part of the emitting device is movably connected with the shell, and the at least part of the emitting device is extracted and pushed through an opening on the shell, wherein the at least part of the emitting device is a drawable part. For example, as shown in fig. 7 and 9, the launching device 5 includes a push-pull member 5a for pulling and pushing, by which push-pull member 5a the drawable member of the launching device 5 can be pulled and pushed through the second opening c2, as shown in fig. 9 with direction a being a schematic pulling and pushing direction. Therefore, the flexibility of the launching device can be improved, the situation that the mobile robot needs to be repeatedly and repeatedly disassembled and assembled due to the fact that the object to be launched needs to be loaded is avoided, and the disassembling and assembling loss of the mobile robot is reduced.

Further, the at least part of the components includes a component for loading the object to be launched, for example, the rail assembly 52 in fig. 8 is a component for loading the object to be launched, so that the object to be launched can be loaded into the launching device by extracting and pushing the component for loading the object to be launched without disassembling the launching device and without disassembling the mobile robot, thereby improving the loading efficiency and the launching efficiency.

In another specific application of the present specification, the mobile robot may include an image capturing device so that the mobile robot has a function of capturing an image. Specifically, the image acquisition device is arranged inside the shell and connected with the balancing device and the control device, and the image acquisition device can acquire image data of an environment where the mobile robot is located. Further, the image capturing device may capture image data of a corresponding viewing angle through an opening (e.g., at least one of the first opening and the second opening) in the housing.

In yet another particular application of the present description, the mobile robot may include a communication device, so that the mobile robot has a communication function. Specifically, the communication device is arranged inside the shell, and is connected with the balancing device and the control device, the shell is provided with a first opening, and the transmitting device transmits the object to be transmitted to the outside through the first opening. The communication device may transmit a control instruction so that the control device performs a control operation on the mobile robot in response to the control instruction, and may also transmit data of other devices inside the housing, for example, if an image capturing device is provided in the housing, the communication device may transmit image data captured by the image capturing device.

In a specific implementation, the communication device adopts a wireless communication technology (such as 5G, Wifi) so as to improve the long-distance communication capability of the mobile robot. For example, a 5G network card is placed inside the housing, and information transmitted by the communication device, such as information of the movement speed and movement track of the mobile robot, can be viewed through a computer, a mobile phone, a ground station and other terminals, and remote control is performed.

Furthermore, if the mobile robot comprises an image acquisition device, the image data transmitted by the communication device can be checked through a computer, a mobile phone, a ground station and other terminals, and remote control can be performed according to the image data and the motion track.

In still another specific application of the present specification, the mobile robot may include a heat dissipation device, so that the mobile robot has a heat dissipation function. The heat dissipation device is arranged inside the shell and used for enabling air inside the shell to flow, and therefore the interior of the shell is cooled. Wherein, the heat dissipation device can be a fan.

Optionally, the housing may be provided with a through hole matched with the heat sink. Through heat abstractor and through-hole, can reach ventilation effect, not only can cool down, can also play the effect of the inside steam of stoving casing.

For example, if the emitting device is disposed inside the housing, a through hole may be formed in a portion of the housing corresponding to an emitting end of the emitting device, as shown in a circular area d formed by double dotted lines in fig. 3, and a plurality of through holes are formed therein. For another example, if the housing is provided with the emitter inside, a through hole may be formed in a portion of the housing corresponding to the inlet end of the emitter, as shown by a circular area e formed by double dotted lines in fig. 7, and a plurality of through holes may be formed.

In specific implementation, the through hole can be further arranged at a position close to the bottom of the shell and used for timely draining accumulated water in the shell. Specifically, the mobile robot is inclined by the steering device, and accumulated water in the housing is drained through the through hole.

In particular implementations, the mobile robot may include one or more heat sinks. For example, as shown in fig. 5, the heat dissipation device 7 is disposed on the object plate 334; for another example, as shown in fig. 7, a heat sink 8 is provided on the stage plate 335.

It should be understood that the above examples are only illustrative, and in practical applications, the heat dissipation device may be installed according to practical requirements, and the specification does not limit the specific installation position of the heat dissipation device.

In another particular application of the present description, the mobile robot may include a filtering device so that the mobile robot has a filtering function. The filtering device can be arranged inside the shell and also can be arranged outside the shell, and is used for preventing impurities from entering the shell of the mobile robot and reducing interference caused by the impurities. Wherein, the filtering device can be a gauze and is jointed with the through hole on the shell and jointed with the openings (such as the first opening and the second opening) on the shell.

In another specific application of this specification, the mobile robot may include a wireless charging device, so that the mobile robot has a wireless charging function, and the complex disassembly and assembly of the mobile robot repeated many times due to the need of replacing the power supply is avoided, and the disassembly and assembly loss of the mobile robot is reduced. The wireless charging device may be disposed inside the housing, coupled to the power supply device, and adapted to charge the power supply device. Specifically, wireless charging device can include wireless induction system, looks for the charging base that has set up through wireless location technologies such as ultrasonic wave, laser, and the base and the commercial power connection of charging can begin to charge after mobile robot's wireless charging device pairs successfully with the charging base.

In one embodiment, the housing may be made of a transparent or translucent material to reduce the weight of the housing and facilitate viewing of the status of the devices inside the housing. For example, the housing may be made of a transparent acrylic material or a translucent acrylic material.

It is to be understood that while various embodiments have been provided in the foregoing description, alternatives to those embodiments described above may be combined, cross-referenced, and so forth without conflict, to extend to the various possible embodiments, all of which are deemed to be disclosed and disclosed herein.

It should be noted that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic may be included in at least one implementation of the present specification. In the description of the present specification, it is to be understood that the terms "upper", "lower", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present specification and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present specification.

In addition, in the present specification, terms representing structural relationships, such as "connected" and "fixed", may be broadly interpreted in different aspects, for example, on the one hand, the term "fixed" may be non-detachable connected, or a combination thereof; on the other hand, "fixed" may be mechanically, electrically, or physically connected, or the like; in yet another aspect, "affixed" can be directly connected, indirectly connected through intervening media, connected internally or in interactive relationship between two elements, or the like. The specific meaning of the above terms in this specification can be understood by those of ordinary skill in the art in light of the specific context.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.

Although the embodiments of the present specification are disclosed above, the embodiments of the present specification are not limited thereto. Various changes and modifications may be effected by one skilled in the art without departing from the spirit and scope of the embodiments herein described, and it is intended that the scope of the embodiments herein described be limited only by the scope of the appended claims.

Claims (18)

1. A mobile robot, comprising: casing, rotating device and balancing unit, rotating device with the balancing unit set up in inside the casing, wherein:

the rotating device is connected with the shell part and drives the shell to rotate when rotating;

the balancing device is rotatably connected with the rotating device and enables the device inside the shell to be balanced through angular momentum.

2. The mobile robot of claim 1, wherein the housing is in the shape of a sphere or a spheroid.

3. The mobile robot according to claim 1, wherein the balancing means comprises: the device comprises an attitude acquisition component and a momentum rotation component; the attitude acquisition component is suitable for acquiring attitude deviation information of a device inside the shell; the momentum rotating assembly is suitable for rotating according to a specified direction and a specified rotating speed, angular momentum is generated for attitude deviation compensation, and devices in the shell are kept balanced.

4. The mobile robot of claim 3, wherein the momentum turning assembly comprises a plurality of momentum turning members, each of which turns in a different direction.

5. The mobile robot of claim 4, wherein the momentum turning assembly comprises: a first momentum turning part and a second momentum turning part, wherein:

a rotation axis direction of the first momentum turning member is parallel to a rotation axis direction of the housing;

the direction of the rotation axis of the second momentum turning part is perpendicular to the direction of the rotation axis of the housing.

6. The mobile robot of claim 3, wherein the balancing device further comprises: and the carrying structure part is suitable for carrying the attitude acquisition part, the momentum rotating assembly and other devices in the shell, and is rotatably connected with the rotating device.

7. The mobile robot of claim 1, further comprising: the transmitting device is arranged inside the shell and is connected with the balancing device; the shell is provided with a first opening, and the transmitting device transmits the object to be transmitted outwards through the first opening.

8. The mobile robot as claimed in claim 7, wherein the transmitting device is disposed through the rotating device and rotatably connected to the rotating device.

9. The mobile robot of claim 7, wherein the housing defines a second opening, and at least a portion of the components of the transmitting device are mounted inside the housing through the second opening and movably connected to the housing.

10. The mobile robot of claim 1, wherein the rotating device comprises a driving assembly and a driven assembly; the driving assembly is in transmission connection with the driven assembly, and the driving assembly drives the driven assembly to move when moving.

11. The mobile robot of claim 1, further comprising: a steering device adapted to shift a center of gravity of the mobile robot.

12. The mobile robot of claim 11, wherein the steering device comprises: a fixed component, a sliding component and a driving component, wherein:

the fixed part is connected with the balancing device;

the sliding component is connected with the fixed component in a sliding way and is in transmission connection with the driving component;

the driving part drives the sliding part to slide on the fixed part when moving.

13. The mobile robot of claim 12, wherein the sliding member is in meshing driving connection with the drive member.

14. The mobile robot of claim 1, further comprising: the control device is respectively connected with the image acquisition device, the balancing device, the rotating device and the communication device, and the balancing device is also respectively connected with the image acquisition device and the communication device; the communication device, the image acquisition device and the control device are all arranged inside the shell, wherein:

the image acquisition device is suitable for acquiring image data of the environment where the mobile robot is located;

the communication device is suitable for transmitting a control instruction and the image data acquired by the image acquisition device;

and the control device responds to the control instruction and executes control operation on the mobile robot.

15. The mobile robot of claim 1, further comprising: and the heat dissipation device is arranged inside the shell, and the shell is provided with a through hole matched with the heat dissipation device.

16. The mobile robot of claim 15, further comprising: and the filtering device is attached to the through hole.

17. The mobile robot of claim 1, further comprising: power supply unit and wireless charging device, set up in inside the casing, wherein:

the power supply device is suitable for supplying power to the mobile robot;

the wireless charging device is coupled with the power supply device and is suitable for charging the power supply device.

18. The mobile robot of claim 1, wherein the housing is made of a transparent or translucent material.

Images